Robot automatic water blowing device and method

Abstract

The invention relates to a robot automatic water blowing device which comprises a robot water blowing chamber, a robot, a robot controller, a control system, a suspension conveyor, a main air source and a compressed air control module. The invention further relates to a method using the robot automatic water blowing device. The method comprises the following steps that after an engine reaches an on-line station, the AI visual recognition process is executed; the engine reaches a high-pressure fan water blowing station, and then a high-pressure fan water blowing process is executed; and the engine reaches the robot water blowing station, and then the robot water blowing process is executed. The water blowing effect is improved; full automation of the water blowing process is achieved, the working efficiency is improved, and meanwhile the risk of the severe working environment of manual water blowing is eliminated.

Description

Technical Field

[0001] The present invention relates to the technical field of engine water blowing, and in particular to a robot automatic water blowing device and method. Background Art

[0002] After the engine is cleaned, the traditional design of the engine industry coating line uses compressed air automatic water blowing + manual water blowing to supplement. The compressed air automatic water blowing and manual water blowing stations of the assembly line are designed with a certain interval, but they cannot be separated.

[0003] In recent years, the industry has gradually adopted high-pressure fan automatic water blowing to replace compressed air automatic water blowing, which has greatly reduced energy consumption and improved noise. However, compared with compressed air water blowing, high-pressure fan automatic water blowing has low pressure, short effective water blowing distance and poor water blowing effect; especially when the production line has multiple varieties of mixed flow, in order to meet the passability of each model, the nozzle distance is far, and it is even more difficult for high-pressure fan water blowing to achieve satisfactory results. It has to rely mainly on manual compressed air blowing guns to blow water, which increases the workload of manual water blowing and prolongs the operating time of the water blowing operator in a noisy environment.

[0004] Other companies use traditional high-pressure fan water blowing technology and manual water blowing, while processing industrial robots try to reduce the workload of manual water blowing.

[0005] The defects of the prior art are:

[0006] 1. Because the traditional robot water blowing needs to cover all surfaces on the engine, it belongs to the path form of full coverage, the path is relatively complex, the single-point water blowing time is short, and the action is single, which makes it difficult to completely blow away the accumulated water and requires manual blowing.

[0007] 2. Because the traditional robot water blowing adopts the conventional air water blowing gun on the market, the steel nozzle is high in strength, and there is no problem with conventional water blowing. However, there are difficulties in blowing the water accumulated in the sealing ring of the automatic tensioner of the engine belt, so the water accumulated in the sealing ring cannot be effectively blown away.

[0008] 3. Since the high-pressure blower and robot in the prior art need to be manually supplemented with water, the degree of automation is low and the water blowing efficiency is low.

[0009] 4. Due to the manual water blowing and replenishment operation, workers are exposed to a high noise environment, which seriously affects their occupational health. Summary of the invention

[0010] In view of the above problems, the present invention provides a robot automatic water blowing device and method, which aims to improve the water blowing effect; realize full automation of the water blowing process, improve work efficiency and eliminate the risk of a harsh working environment for manual water blowing.

[0011] To solve the above problems, the technical solution provided by the present invention is:

[0012] The robot automatic water blowing device comprises a robot water blowing chamber, a robot, a robot controller, a control system, a hanging conveyor, a main air source, and a compressed air control module, wherein:

[0013] The robot is arranged inside the water blowing chamber of the robot; the robot comprises a robot body and a blowing gun;

[0014] The robot controller is arranged outside the water blowing chamber of the robot; the robot controller is coupled with the robot by electrical signals, and controls the switch of the blowing gun; the robot controller is coupled with the compressed air control module arranged inside the water blowing chamber of the robot by electrical signals, and sends a water blowing control signal and a robot blowing nozzle collision feedback signal to the compressed air control module;

[0015] The total air source is arranged outside the water blowing chamber of the robot; the total air source is connected to the compressed air control module through an air pipe;

[0016] The compressed air control module includes a solenoid valve for controlling the opening and closing of the compressed air circuit; the compressed air control module is connected to the blow gun through the air supply pipe;

[0017] The hanging conveyor is installed at the center line position of the top of the inner side of the robot water blowing chamber; the control system is installed on the top of the hanging conveyor.

[0018] Preferably, the blowing gun comprises a robot water blowing bracket, a reducer, a blowing nozzle, a straight-through joint, a joint mounting plate, and an extended blowing nozzle head, wherein:

[0019] One end of the robot water blowing bracket is fixedly connected to the robot body, and the other end is provided with the joint mounting plate; the rear end of the straight-through joint is fixedly mounted on the joint mounting plate, and the front end is fixedly connected to the reducing joint; the rear end of the nozzle is fixedly connected to the reducing joint, and the front end is socketed with the extended nozzle head.

[0020] Preferably, the robot water blowing bracket is a 50 stainless steel square tube; the reducer is a 1 / 4mm to 1 / 8mm copper joint; the mouthpiece is a copper head with a rubber sleeve gun nozzle with an inner diameter of 1 / 8mm; the straight-through joint is an internal thread straight-through joint with an inner diameter of 1 / 4mm; the straight-through joint is made of 304 stainless steel; the joint mounting plate is made of 304 stainless steel; the outer diameter of the extended mouthpiece head is 16mm, the inner diameter is 5mm, and the length is 60mm; the material of the extended mouthpiece head is polyurethane.

[0021] Preferably, the control system comprises an RFID module, a workstation RFID reader / writer, a PLC control module and an AI visual recognition system, wherein:

[0022] The RFID module is installed on the workpiece carrying trolley;

[0023] The station RFID read / write head is installed at a position corresponding to the RFID module on the engine catenary trolley conveying track;

[0024] The PLC control module is used to control the water blowing robot program;

[0025] The AI ​​visual recognition system is used to identify the appearance of the engine.

[0026] The robot automatic water blowing method using the robot automatic water blowing device comprises the following steps:

[0027] S100. After the engine reaches the production line, an AI visual recognition process is executed;

[0028] S200. The engine reaches the high-pressure blower water blowing station, and then executes the high-pressure blower water blowing process;

[0029] S300. The engine arrives at the robot water blowing station and then executes the robot water blowing process.

[0030] Preferably, the AI ​​visual recognition process includes the following steps:

[0031] Sa100. After the engine arrives at the on-line station, the database of the AI ​​visual recognition system is searched according to the customer order number corresponding to the engine, and then the engine model information is digitally defined for the appearance of the engine;

[0032] Sa200. Write the identified engine model information into the RFID module and record it as the first engine model information;

[0033] Sa300: the engine runs to the AI ​​visual recognition system station and reads the first engine model information recorded by the RFID module;

[0034] Sa400. Visually identify the appearance of the engine, and then generate corresponding second engine model information according to the actual appearance of the engine;

[0035] Sa500. Match the first engine model information with the second engine model information, and then perform the following operations according to the matching result:

[0036] If the matching result of the first engine model information and the second engine model information is consistent, releasing the engine;

[0037] If the matching results of the first engine model information and the second engine model information are inconsistent, an alarm will be prompted until the engine is released after manual maintenance makes the matching results of the first engine model information and the second engine model information consistent.

[0038] Preferably, the high-pressure blower water blowing process comprises the following steps:

[0039] Sb100. The engine is transported to the high-pressure blower water blowing station, and the suspension conveyor carrying the engine stops moving;

[0040] Sb200. The station RFID reader reads the engine model information;

[0041] Sb300. The engine model information is transmitted to the PLC control module;

[0042] Sb400. The PLC control module starts the corresponding high-pressure fan control program according to the engine model to blow water on the engine;

[0043] Sb500. The high-pressure fan control program reaches the manually preset high-pressure fan water blowing completion conditions; the PLC control module controls the high-pressure fan water blowing device to stop blowing;

[0044] Sb600. The PLC control module sends a release signal; the hanging conveyor transports the engine to the robot water blowing station.

[0045] Preferably, the robot water blowing process comprises the following steps:

[0046] Sc100. The engine is transported to the robot water blowing station, and the suspension conveyor carrying the engine stops moving;

[0047] Sc200. The station RFID reader reads the engine model information;

[0048] Sc300. The engine model information is transmitted to the PLC control module;

[0049] Sc400. The PLC control module sends the information to the robot controller according to the engine model;

[0050] Sc500. The robot controller controls the movement of the robot according to the robot water blowing program to blow water on the engine;

[0051] Sc600. The robot water blowing program runs and sends a completion signal to the PLC control module, and clears the current task in the robot water blowing program; the PLC control module clears the current task in the PLC control module after receiving the completion signal of the water blowing robot;

[0052] Sc700. The PLC control module sends a release signal; the hanging conveyor transports the engine to the next workstation and then returns to execute S100.

[0053] Preferably, the digital definition of the engine model information in Sa100 includes an 11-digit identity code definition rule, wherein:

[0054] The first identity code is the model information;

[0055] The second digit of the identity code is the ear classification information;

[0056] The third digit of the identity code is the classification information of the supercharger and exhaust manifold;

[0057] The fourth digit of the identity code is the machine filter information;

[0058] The fifth digit of the identity code is the liquid buffer component information;

[0059] The sixth digit of the ID code is the material and oil pan information;

[0060] The 7th identity code is the flywheel housing information;

[0061] The 8th ID code is the length and appearance information of the intake pipe;

[0062] The 9th digit of the identity code is the air compressor information;

[0063] The 10th digit of the identity code is the fuel filter information;

[0064] The 11th digit of the identity code is the generator bracket information.

[0065] Compared with the prior art, the present invention has the following advantages:

[0066] 1. Since the extension head structure of the present invention simulates human operation and can flexibly approach the tensioner to blow water through a 1mm gap, the internal water can be blown out by aiming at the tensioner seal ring, ultimately achieving the goal of eliminating manual water blowing.

[0067] 2. Since the high-pressure blower of the present invention blows water to a large area of ​​the engine surface, and cooperates with the robot to use compressed air to accurately blow water at special parts such as threaded holes, no manual re-blowing is required after the blowing operation is completed, thereby realizing full automation of the blowing process, thereby improving work efficiency and eliminating the risk of a harsh working environment for manual blowing. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Figure 1A It is a schematic structural diagram of a robot water blowing device according to a specific embodiment of the present invention;

[0069] Figure 1B It is a partial enlarged schematic diagram of the robot water blowing device structure R5 according to a specific embodiment of the present invention;

[0070] Figure 2A It is a schematic side view of a prior art blow gun of a specific embodiment of the present invention;

[0071] Figure 2B It is a schematic front view of a prior art blow gun of a specific embodiment of the present invention;

[0072] Figure 3 It is a schematic side view of a blow gun according to a specific embodiment of the present invention;

[0073] Figure 4A It is a schematic diagram of a blow gun according to a specific embodiment of the present invention extending the blow nozzle head close to blow water;

[0074] Figure 4B It is a schematic diagram of a blow gun according to a specific embodiment of the present invention extending the blow nozzle head close to blow water;

[0075] Figure 4C It is a schematic diagram of a blow gun according to a specific embodiment of the present invention extending the blow nozzle head close to blow water;

[0076] Figure 5A A schematic diagram of a conventional robot water blowing path diagram of the prior art of the present invention;

[0077] Figure 5B It is a schematic diagram of a simplified water blowing path diagram after optimization according to a specific embodiment of the present invention;

[0078] Figure 5C Schematic diagram of water blowing paths at different vertex angles according to a specific embodiment of the present invention;

[0079] Figure 6 It is a structural schematic diagram of a high-pressure blower water blowing device according to a specific embodiment of the present invention;

[0080] Fig. 7A It is a schematic structural diagram of a movable blowing device according to a specific embodiment of the present invention;

[0081] Figure 7B For a specific embodiment of the present invention Fig. 7A A schematic diagram of a partial enlarged view of the rotation axis of the upper bracket at 4.5;

[0082] Fig. 8A It is a schematic top view of a nozzle distribution plate of a specific embodiment of the present invention;

[0083] Figure 8B It is a schematic cross-sectional view of a nozzle distribution plate of a specific embodiment of the present invention;

[0084] Figure 9A-1 It is a schematic front view of a first blowing nozzle according to a specific embodiment of the present invention;

[0085] Figure 9A-2 It is a schematic side view of a first blowing nozzle according to a specific embodiment of the present invention;

[0086] Figure 9B-1 It is a schematic front view of the second blowing nozzle of a specific embodiment of the present invention;

[0087] Figure 9B-2 It is a schematic side view of a second blowing nozzle according to a specific embodiment of the present invention;

[0088] Figure 9C-1 It is a schematic front view of a third blowing nozzle of a specific embodiment of the present invention;

[0089] Figure 9C-2 It is a schematic side view of a third blowing nozzle of a specific embodiment of the present invention;

[0090] Figure 9D-1 It is a schematic front view of a fourth blowing nozzle according to a specific embodiment of the present invention;

[0091] Figure 9D-2 It is a schematic side view of a fourth blowing nozzle according to a specific embodiment of the present invention;

[0092] Fig.10 It is a schematic diagram of the arrangement structure of the blowing nozzles of the nozzle distribution plate of a specific embodiment of the present invention;

[0093] Figure 11-A It is a schematic diagram of a high-pressure fan water blowing control system according to a specific embodiment of the present invention;

[0094] Figure 11-B It is a schematic diagram of the running direction of the conveyor chain of a specific embodiment of the present invention;

[0095] Fig. 12A It is a schematic diagram of the arrangement structure of the blowing nozzles of a medium-sized engine in the prior art;

[0096] Fig. 12B It is a schematic side view of the arrangement of the air blowing nozzles of a medium-sized engine in the prior art;

[0097] Fig.13 It is a schematic diagram of a blowing structure in which the water blowing nozzles are densely gathered in a specific embodiment of the present invention;

[0098] Fig.14 It is a schematic diagram of the directional water blowing effect of a specific embodiment of the present invention;

[0099] Fig.15A It is a schematic diagram of water blowing of a LEGEND-LA9822 engine according to a specific embodiment of the present invention;

[0100] Fig. 15B It is a schematic diagram of water blowing of a Z15N-LA2146 engine according to a specific embodiment of the present invention;

[0101] Fig. 15C It is a schematic diagram of water blowing of an X12-LA2149 engine according to a specific embodiment of the present invention;

[0102] Fig.15D It is a schematic diagram of water blowing of a Z14-LA2133 engine according to a specific embodiment of the present invention;

[0103] Fig.15E It is a schematic diagram of water blowing of a Z15-LA2146 engine according to a specific embodiment of the present invention;

[0104] Fig.15F It is a schematic diagram of water blowing of a Z13-LA2111 engine according to a specific embodiment of the present invention.

[0105] Wherein: R1. Robot water blowing chamber, R2. Robot, R3. Robot controller, R4. Main air source, R5. Compressed air control module, R2.1. Robot body, R2.2. Blow gun, R5.1. Solenoid valve, R2.2.1. Robot water blowing bracket, R2.2.2. Reducer, R2.2.3. Blowing nozzle, R2.2.4. Straight-through connector, R2.2.5. Connector mounting plate, R2.2.6. Extended blowing nozzle head, 1. Water blowing soundproof chamber, 2. High-pressure fan, 3. Fixed air duct, 4. Movable water blowing device, 5. Suspension conveyor, 1.1. Bottom layer of water blowing soundproof chamber, 1.2. Water blowing working layer, 4.1. Nozzle distribution plate, 4.2. Corrugated connecting pipe , 4.3. Blowing nozzle, 4.4. Lower bracket, 4.5. Upper bracket rotating shaft, 4.6. Nozzle fixing device, 4.7. Nozzle moving cylinder, 4.8. Control system, 4.9. Main air duct, 4.3.1. Air inlet, 4.3.2. Air outlet, 4.3.3. Elbow, 4.1.1. Distribution plate outlet, 4.3.4. Head nozzle, 4.3.0.1. 1st blowing nozzle, 4.3.0.2. 2nd blowing nozzle, 4.3.0.3. 3rd blowing nozzle, 4.3.0.4. 4th blowing nozzle, 4.8.1. Station RFID reader, 5.1 stopper, 6. High-pressure fan water blowing station, 7. Robot water blowing station, 8. Conveyor chain running direction DETAILED DESCRIPTION

[0106] The present invention is further explained below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention. After reading the present invention, various equivalent forms of modifications to the present invention by those skilled in the art all fall within the scope defined by the claims attached to this application.

[0107] like Figure 1A and Figure 1B As shown, the robot automatic water blowing device comprises a robot water blowing chamber R1, a robot R2, a robot controller R3, a control system 4.8, a hanging conveyor 5, a total air source R4, and a compressed air control module R5, wherein:

[0108] The robot R2 is arranged inside the robot water blowing chamber R1; the robot R2 comprises a robot body R2.1 and a blowing gun R2.2.

[0109] The robot controller R3 is arranged outside the robot water blowing chamber R1; the robot controller R3 is electrically signal coupled to the robot R2, and controls the switch of the blow gun R2.2; the robot controller R3 is electrically signal coupled to the compressed air control module R5 arranged inside the robot water blowing chamber R1, and sends a water blowing control signal and a robot blow nozzle collision feedback signal to the compressed air control module R5.

[0110] The main air source R4 is arranged outside the water blowing chamber R1 of the robot; the main air source R4 is connected to the compressed air control module R5 through an air pipe.

[0111] The compressed air control module R5 includes a solenoid valve R5.1 for controlling the switching of the compressed air circuit; the compressed air control module R5 is connected to the blow gun R2.2 through an air supply pipe.

[0112] The hanging conveyor 5 is installed at the center line position of the top of the inner side of the robot water blowing chamber R1; the control system 4.8 is installed on the top of the hanging conveyor 5.

[0113] like Figure 3 As shown, it should be noted that the blow gun R2.2 includes a robot water blowing bracket R2.2.1, a reducer R2.2.2, a blow nozzle R2.2.3, a straight-through connector R2.2.4, a connector mounting plate R2.2.5, and an extended blow nozzle head R2.2.6, wherein:

[0114] One end of the robot water blowing bracket R2.2.1 is fixedly connected to the robot body R2.1, and the other end is provided with a joint mounting plate R2.2.5; the rear end of the straight joint R2.2.4 is fixedly mounted on the joint mounting plate R2.2.5, and the front end is fixedly connected to the reducer R2.2.2; the rear end of the mouthpiece R2.2.3 is fixedly connected to the reducer R2.2.2, and the front end is socketed with the extended mouthpiece head R2.2.6.

[0115] In this specific embodiment, the robot water blowing bracket R2.2.1 is a 50 stainless steel square tube; the reducer R2.2.2 is a copper joint that turns from 1 / 4mm to 1 / 8mm; the mouthpiece R2.2.3 is a copper head with a rubber sleeve and an inner diameter of 1 / 8mm; the straight-through joint R2.2.4 is an internal thread straight-through joint with an inner diameter of 1 / 4mm; the straight-through joint R2.2.4 is made of 304 stainless steel; the joint mounting plate R2.2.5 is made of 304 stainless steel; the extended mouthpiece head R2.2.6 has an outer diameter of 16mm, an inner diameter of 5mm, and a length of 60mm; the extended mouthpiece head R2.2.6 is made of polyurethane.

[0116] like Figure 2A and Figure 2B As shown, it should be noted that the conventional design of the robot water blowing has difficulties when water accumulates in the sealing ring of the engine belt automatic tensioner, and the water accumulated in the sealing ring cannot be effectively blown out. The difficulty lies in that the gap of the tensioner for water blowing is only 1mm, and the amount of water accumulated inside the sealing ring is large and difficult to discharge. Only when the blowing nozzle is close to the gap can the water blowing pressure in the sealing ring be effectively established. The positioning accuracy of the engine suspension is less than 1mm. The traditional blowing nozzle is made of steel, which is too close to the engine and is prone to collision. The robot is prone to triggering a fault alarm, and the distance from the engine is far, so the water blowing target cannot be achieved. Therefore, the water blowing effect can only be improved by improving the adaptability of the robot.

[0117] like Figure 4A , Figure 4B , Figure 4C As shown, it needs to be further explained that the mouthpiece is improved to simulate human operation and can approach the gap of the tensioner to blow water. In order to simulate human operation to approach the gap of the tensioner to blow water, the first round of improvements added a latex extension head in front of the mouthpiece, and the robot program was re-optimized. The robot made local movements at this special position to expand the adaptability range. In order to simulate human operation to approach the gap of the tensioner to blow water, a latex extension head was added in front of the mouthpiece, and the robot program was re-optimized. The blowing effect was significantly improved, which basically meets the requirement of eliminating the manual blowing effect.

[0118] It should be further explained that in order to solve the problem of latex extension heads being soft and prone to aging and deformation, after multiple rounds of testing and verification on various materials, polyurethane pipes are used as extension heads with moderate hardness and softness. The simulated human operation can flexibly approach the tensioner wheel to blow water through a 1mm gap. The two robots aim at the tensioner wheel sealing ring in turn at intervals to blow away the accumulated water inside, ultimately achieving the goal of eliminating manual blowing and completely eliminating the impact of the harsh environment of high noise from blowing on manual occupational health.

[0119] It should be noted that the control system 4.8 includes an RFID module, a workstation RFID reader / writer, a PLC control module and an AI visual recognition system, among which:

[0120] The RFID module is installed on the workpiece carrying trolley.

[0121] The workstation RFID read / write head is installed on the engine catenary trolley conveyor track at the position corresponding to the RFID module.

[0122] The PLC control module is used to control the water blowing robot program.

[0123] The AI ​​visual recognition system is used to identify the appearance of the engine.

[0124] The robot automatic water blowing method using the robot automatic water blowing device comprises the following steps:

[0125] S100. After the engine arrives at the production line, the AI ​​visual recognition process is executed.

[0126] S200. The engine arrives at the high-pressure blower water blowing station 6, and then executes the high-pressure blower water blowing process.

[0127] S300. The engine arrives at the robot water blowing station 7, and then executes the robot water blowing process.

[0128] It should be noted that the AI ​​visual recognition process includes the following steps:

[0129] Sa100. After the engine arrives at the production line, the database of the AI ​​visual recognition system is searched according to the customer order number corresponding to the engine, and then the engine model information is digitally defined for the engine appearance.

[0130] Sa200. Write the identified engine model information into the RFID module and record it as the first engine model information.

[0131] Sa300: The engine runs to the AI ​​visual recognition system station and reads the first engine model information recorded by the RFID module.

[0132] Sa400. Visually identify the appearance of the engine, and then generate corresponding second engine model information based on the actual appearance of the engine.

[0133] Sa500. Match the first engine model information with the second engine model information, and then perform the following operations according to the matching result:

[0134] If the matching result of the first engine model information and the second engine model information is consistent, the engine is released.

[0135] If the matching results of the first engine model information and the second engine model information are inconsistent, an alarm will be prompted until manual maintenance makes the matching results of the first engine model information and the second engine model information consistent and then the engine is released.

[0136] It should be further explained that in order to ensure the safety of the high-pressure fan's water blowing approach and the precise control and safety of the robot's water blowing, AI recognition and error prevention are carried out on the engine appearance. The information is transmitted through RFID, the high-pressure fan and the robot verify the information, and the program is called according to the appearance.

[0137] It should be further explained that, as shown in Table 1, the digital definition of the engine model information in Sa100 includes an 11-bit identity code definition rule, where:

[0138] The first digit of the identification code is the model information.

[0139] The second digit of the identity code is the ear classification information.

[0140] The third digit of the identification code is the classification information of the supercharger and exhaust manifold.

[0141] The 4th digit of the identity code is the machine filter information.

[0142] The fifth digit of the identity code is the liquid buffer component information.

[0143] The sixth digit of the identification code is the material and oil pan information.

[0144] The 7th digit of the identity code is the flywheel housing information.

[0145] The 8th digit of the ID code is the length and appearance information of the intake pipe.

[0146] The 9th digit of the identity code is the air compressor information.

[0147] The 10th digit of the identity code is the fuel filter information.

[0148] The 11th digit of the identity code is the generator bracket information.

[0149] Table 1. Definition rules of 11-digit identity code of engine shape AI recognition structure

[0150]

[0151] It should be noted that the high-pressure fan water blowing process includes the following steps:

[0152] Sb100. The engine is transported to the high-pressure blower water blowing station 6, and the hanging conveyor 5 carrying the engine stops moving.

[0153] Sb200. Station RFID read / write head 4.8.1 reads the engine model information.

[0154] Sb300. Engine model information is transmitted to the PLC control module.

[0155] The Sb400.PLC control module starts the corresponding high-pressure blower control program according to the engine model to blow water to the engine.

[0156] Sb500. The high-pressure fan control program reaches the manually preset high-pressure fan water blowing completion conditions; the PLC control module controls the high-pressure fan water blowing device to stop blowing water.

[0157] Sb600.PLC control module sends a release signal; the hanging conveyor 5 transports the engine to the robot water blowing station 7.

[0158] It should be further explained that the hanging conveyor 5 is designed with a stopper 5.1 at the high-pressure fan water blowing station 6; the stopper 5.1 is used to stop the engine workpiece at the corresponding water blowing position and then start the water blowing operation when the hanging conveyor 5 delivers the engine workpiece to the high-pressure fan water blowing station 6; after the water blowing operation is completed, the stopper 5.1 is automatically opened, and the hanging conveyor 5 transports the engine workpiece to the robot water blowing station 7 and leaves to enter the next cycle.

[0159] It should be noted that the robot water blowing process includes the following steps:

[0160] Sc100. The engine is transported to the robot water blowing station 7, and the hanging conveyor 5 carrying the engine stops moving.

[0161] Sc200. The RFID read / write head at the workstation reads the engine model information.

[0162] Sc300. Engine model information is transmitted to the PLC control module.

[0163] Sc400.PLC control module sends to robot controller R3 according to the engine model.

[0164] Sc500. The robot controller R3 controls the movement of the robot R2 according to the robot water blowing program to blow water on the engine.

[0165] Sc600. The robot water blowing program completes and sends a completion signal to the PLC control module, and clears the current task in the robot water blowing program; the PLC control module clears the current task in the PLC control module after receiving the completion signal from the water blowing robot.

[0166] Sc700.PLC control module sends a release signal; the hanging conveyor 5 transports the engine to the next station and then returns to execute S100.

[0167] like Figure 6 As shown, it should be noted that the high-pressure blower water blowing device used in the high-pressure blower water blowing process includes a water blowing soundproof chamber 1, a high-pressure blower 2, a fixed air duct 3, a movable water blowing device 4, and a hanging conveyor 5, wherein:

[0168] The water blowing soundproof chamber 1 comprises a structure of upper and lower layers; the lower layer of the water blowing soundproof chamber 1 is a water blowing soundproof chamber bottom layer 1.1 for installing a high-pressure blower 2; and the upper layer of the water blowing soundproof chamber 1 is a water blowing working layer 1.2.

[0169] The hanging conveyor 5 is used to automatically convey the engine workpiece to the high-pressure blower water blowing station; the hanging conveyor 5 is installed at the center line position of the top of the water blowing working layer 1.2.

[0170] The bottom end of the fixed air duct 3 is connected to the high-pressure blower 2 ; the top end of the fixed air duct 3 is connected to the movable water blowing device 4 .

[0171] like Fig. 7A , Figure 7B As shown, the movable water blowing devices 4 are installed on both sides of the water blowing working layer 1.2.

[0172] The movable water blowing device 4 comprises a nozzle distribution plate 4.1, a corrugated connecting pipe 4.2, a blowing nozzle 4.3, a lower bracket 4.4, an upper bracket rotating shaft 4.5, a nozzle fixing device 4.6, a nozzle moving cylinder 4.7, a control system 4.8, and a main air duct 4.9, wherein:

[0173] The nozzle fixing device 4.6 is a cubic box-shaped structure; the bottom corner of the nozzle fixing device 4.6 is movably connected to the top of the lower bracket 4.4 through the upper bracket rotation shaft 4.5.

[0174] like Figure 9A-2 As shown, the blowing nozzle 4.3 comprises an air inlet end 4.3.1, an air outlet end 4.3.2 and a curved pipe 4.3.3; one end of the curved pipe 4.3.3 is fixedly connected to the air inlet end 4.3.1, and the other end is fixedly connected to the air outlet end 4.3.2; the air inlet end 4.3.1 of the blowing nozzle 4.3 passes through and is fixed to the top of the nozzle fixing device 4.6 by a clamp.

[0175] The corrugated connecting tube 4.2 passes through the bottom of the nozzle fixing device 4.6; the top clamp of the corrugated connecting tube 4.2 is connected to the air inlet end 4.3.1 of the blowing nozzle 4.3.

[0176] The nozzle distribution plate 4.1 is fixedly installed on the top of the lower bracket 4.4; the top plane of the nozzle distribution plate 4.1 is provided with a distribution plate air outlet 4.1.1; the distribution plate air outlet 4.1.1 is connected to the bottom clamp of the corrugated connecting tube 4.2; the edge of the nozzle distribution plate 4.1 is welded to the top of the main air duct 4.9 to form a sealed cavity; the bottom end of the main air duct 4.9 is connected to the top of the fixed air duct 3.

[0177] The nozzle moving cylinder 4.7 is installed on the two side walls of the water blowing working layer 1.2; the telescopic end of the nozzle moving cylinder 4.7 is fixedly connected to the nozzle fixing device 4.6.

[0178] The control system 4 . 8 is installed on top of the hanging conveyor 5 .

[0179] It should be noted that the entire water blowing soundproof chamber 1 is a closed structure, which is used to eliminate the impact of equipment noise on the external environment; a water receiving trough is designed at the bottom of the water blowing working layer 1.2, and the water dripping from the water blowing is automatically collected in the water receiving trough and introduced into the sewage collection system through the water receiving ditch at the bottom of the water blowing soundproof chamber 1.

[0180] It should be noted that the high-pressure fan 2 and the fixed air duct 3 provide a high-pressure blowing air source, which can be designed according to the workpiece and the air volume.

[0181] In this specific embodiment, the maximum wind pressure of the high-pressure fan 2 is 4000 Pa.

[0182] It should be noted that the blowing nozzles 4.3 of the movable water blowing device 4 are densely gathered to form a densely gathered nozzle matrix, and the air volume per unit area is increased by 8-9 times; wind walls are formed on both sides of the blowing nozzles 4.3 of the movable water blowing device 4, forming an invisible pipe wall effect, which prevents the divergent wind speed from attenuating within a certain distance range.

[0183] like Fig. 8A As shown, it needs to be further explained that the nozzle distribution plate 4.1 is provided with 23 distribution plate air outlets 4.1.1; the distribution plate air outlets 4.1.1 are staggered and distributed in two rows, with 11 distribution plate air outlets 4.1.1 distributed in the first row and 12 distribution plate air outlets 4.1.1 distributed in the second row.

[0184] like Figure 8B As shown, it is necessary to further explain that the nozzle distribution plate 4.1 is a vault structure with an open bottom and a triangular cross section. The vault structure with a triangular cross section is used to provide an inclined angle for the installation of the corrugated connecting pipe 4.2, so as to facilitate the connection of the corrugated connecting pipe 4.2.

[0185] It should be further explained that the number and arrangement of the blowing nozzles 4.3 on the nozzle distribution plate 4.1 can be designed and arranged accordingly according to the designed number and arrangement of the blowing nozzles 4.3, and are welded with the main air duct 4.9 to form a sealed cavity, leaving only the distribution plate outlet 4.1.1 connected to the corrugated connecting pipe 4.2.

[0186] It should be further explained that the arrangement of the blowing nozzles 4.3 on the nozzle distribution plate 4.1 covers the entire length direction of the workpiece.

[0187] like Figure 9A-2 As shown, it should be noted that the blowing nozzle 4.3 is a stainless steel air duct; the inner hole of the head nozzle 4.3.4 of the blowing nozzle 4.3 is contracted.

[0188] It should be further explained that the inner hole of the head nozzle 4.3.4 of the blowing nozzle 4.3 is contracted to accelerate the blowing. The tail of the blowing nozzle 4.3 is connected to the corrugated connecting pipe 4.2 through a clamp.

[0189] like Fig.10 As shown, it needs to be further explained that the blowing nozzles 4.3 are arranged in two rows on the top part of the nozzle fixing device 4.6, wherein:

[0190] There are 11 blowing nozzles 4.3 arranged at equal distances in the front row of the top of the nozzle fixing device 4.6; there are three third blowing nozzles 4.3.0.3 arranged in the 1st to 3rd hole positions arranged from left to right in the front row of the top of the nozzle fixing device 4.6; there are six fourth blowing nozzles 4.3.0.4 arranged in the 4th to 9th hole positions arranged from left to right in the front row of the top of the nozzle fixing device 4.6; there are two third blowing nozzles 4.3.0.3 arranged in the 10th to 11th hole positions arranged from left to right in the front row of the top of the nozzle fixing device 4.6.

[0191] Twelve blowing nozzles 4.3 are arranged at equal distances in the rear row of the top of the nozzle fixing device 4.6; three first blowing nozzles 4.3.0.1 are arranged in the 1st to 3rd holes arranged from left to right in the rear row of the top of the nozzle fixing device 4.6; six second blowing nozzles 4.3.0.2 are arranged in the 4th to 9th holes arranged from left to right in the rear row of the top of the nozzle fixing device 4.6; three first blowing nozzles 4.3.0.1 are arranged in the 10th to 12th holes arranged from left to right in the rear row of the top of the nozzle fixing device 4.6.

[0192] It should be further explained that the nozzle fixing device 4.6 can adjust the position of the blowing nozzle 4.3 according to the size of the machine model, ensuring that the blowing nozzle 4.3 can maintain a reasonable distance from the workpiece under different machine models, close to the workpiece for blowing water, and the wind speed attenuation after the outlet is small.

[0193] It should be noted that the movement of the blowing nozzle 4.3 fixed on the nozzle fixing device 4.6 is achieved by driving the nozzle moving cylinder 4.7 to push the nozzle fixing device 4.6 to rotate around the upper bracket rotating shaft 4.5.

[0194] like Fig.15A , Fig. 15B , Fig. 15C , Fig.15D , Fig.15E , Fig.15FAs shown, it is necessary to further explain that the blowing nozzle 4.3 on the nozzle fixing device 4.6 is designed to be movable and can be rotated by the upper bracket rotating shaft 4.5, so as to adjust the proximity distance between the blowing nozzle 4.3 and the engine. A comprehensive analysis of the blowing nozzle 4.3 and various models of heavy horsepower paint lines and the design of the hanging trolley keeps the blowing nozzle 4.3 at a safe distance of about 10-15CM from the workpiece.

[0195] It should be further explained that the blowing nozzle 4.3 blows water at an angle of 40-45 degrees on the shoulder of the engine where water is most likely to accumulate, forming a dense blowing storm and a single point breakthrough.

[0196] It should be further explained that the densely gathered blowing nozzles 4.3 local storm produce a siphon effect, which drives the surrounding air to move in a certain direction, so as to achieve the purpose of sweeping away the remaining surface moisture.

[0197] like Fig.14 As shown, it needs to be further explained that the densely gathered blowing nozzles 4.3 only blow the accumulated water on the top and shoulder of the engine, and blow the water close to the surface of the workpiece according to the machine model, so as to enhance the wind speed reaching the surface of the workpiece by 5-6 times, and the wind reaching the surface of the workpiece flows in a directional manner.

[0198] It should be further explained that although the densely gathered blowing nozzle 4.3 only blows hard at one point, it has been verified through experiments that, compared with the traditional comprehensive and dispersed water blowing solution, the wind speed attenuation is small, the point-to-surface blowing effect is better, and the floating water on the engine surface can be effectively blown away, achieving the goal of eliminating manual re-blowing.

[0199] In this specific embodiment, the blowing nozzle 4.3 includes 4 specifications, among which:

[0200] like Figure 9A-1 , Figure 9A-2 As shown, the specifications of the first blowing nozzle 4.3.0.1 are: outer diameter 55mm, inner diameter 40mm, length 530mm.

[0201] like Figure 9B-1 , Figure 9B-2 As shown, the specifications of the second blowing nozzle 4.3.0.2 are: outer diameter 55mm, inner diameter 40mm, length 430mm.

[0202] like Figure 9C-1 , Figure 9C-2 As shown, the specifications of the third blowing nozzle 4.3.0.3 are: outer diameter 55mm, inner diameter 40mm, length 330mm.

[0203] like Figure 9D-1 , Figure 9D-2 As shown, the specifications of the fourth blowing nozzle 4.3.0.4 are: outer diameter 55mm, inner diameter 40mm, length 230mm.

[0204] It should be further explained that the four specifications of the blowing nozzle 4.3 respectively meet the different length requirements caused by the uneven surface of the workpiece.

[0205] It should be further explained that when the blowing nozzle 4.3 is assembled, the four blowing nozzles 4.3 are arranged according to the engine appearance structure based on the characteristics of the engine workpiece, and fine-tuned on site according to the actual distance from the workpiece to achieve the ideal blowing distance.

[0206] It should be noted that both ends of the corrugated connecting tube 4.2 are open, and its length is adjustable.

[0207] like Figure 11-A and Figure 11-B As shown, it should be noted that the control system 4.8 includes the following control steps:

[0208] Sd100. The stopper 5.1 is set to the closed initial state.

[0209] Sd200. The workpiece transport trolley reaches the preset stop position, and the trolley occupancy signal of the stopper 5.1 is set to 1.

[0210] Sd300. Read the preset value of the cylinder position information corresponding to the engine model in the code reading block, and then perform the following operations according to the reading result:

[0211] If the preset value of the cylinder position information read is 1, the nozzle moving cylinders 4.7 on the left and right sides of the water blowing working layer 1.2 are controlled to extend forward at the same time.

[0212] If the preset value of the cylinder position information read is 2, the nozzle moving cylinders 4.7 on the left and right sides of the water blowing working layer 1.2 are controlled to maintain the contracted state at the same time.

[0213] Sd400. The movable water blowing devices 4 on the left and right sides of the water blowing working layer 1.2 start the water blowing operation.

[0214] Sd500. When the water blowing operation time reaches the manually preset water blowing operation time, the movable water blowing devices 4 on the left and right sides of the water blowing operation layer 1.2 retreat.

[0215] Sd600. Read the release signal of the robot water blowing station 7, and then perform the following operations according to the reading result:

[0216] If the value of the release permission signal of the robot water blowing station 7 is 1, when the push head of the conveyor chain is 5.1200mm away from the stopper, the stopper 5.1 is opened and then Sa700 is executed.

[0217] If the value of the release signal of the robot water blowing station 7 is 0, the stopper 5.1 remains closed.

[0218] Sd700. The trolley occupancy signal of stopper 5.1 changes from 1 to 0, and the conveyor chain runs 6 pulses, that is, a distance of 180 mm.

[0219] Sd800. Stopper 5.1 is closed, return and execute Sd100 again.

[0220] like Figure 5A , Figure 5B , Figure 5C As shown, it should be noted that the high-pressure fan water blowing device ensures the large-surface water blowing effect, and the robot automatic water blowing device and the high-pressure fan water blowing device have a clear division of labor; the robot automatic water blowing device only accurately blows water on water-accumulated areas such as threaded holes, grooves, and gaps that the high-pressure fan water blowing device cannot reach, and the water blowing path of the robot automatic water blowing device is simplified from a fully covered complex path to point-to-point blowing.

[0221] It should be further explained that in order to ensure the single-point stationary blowing effect, the "WaitTime" instruction was used 44 times, with the longest stay time being 11 seconds and the shortest being 1 second. The two robots suspended blowing for a total of 112 seconds, accounting for 70% of the total 160-second blowing cycle of the robot, highlighting the key needs of blowing. For the parts with high difficulty in blowing, the robot program uses multiple postures and different angles to blow water at a single point when necessary. Different angles and positions use time waiting control, increasing the stay to extend the blowing time and improve the local blowing effect.

[0222] In this specific embodiment, the single-point stationary water blowing code parameters are set as follows:

[0223] MoveL p380,vPaint100,z30,AirGun_200\WObj:=wobj_15NN;

[0224] WaitTime 7;

[0225] MoveL p390,vPaint50,z30,AirGun_200\WObj:=wobj_15NN;

[0226] WaitTime 11;

[0227] MoveL p400,vPaint50,z30,AirGun_200\WObj:=wobj_15NN;

[0228] WaitTime 7;

[0229] MoveL p410,vPaint100,z30,AirGun_200\WObj:=wobj_15NN;

[0230] It needs to be further explained that the robot only uses compressed air to accurately blow water at specific locations such as threaded holes and installation holes where water is accumulated after the high-pressure fan water blowing device blows water; it blows one location to ensure that it is blown clean and no manual re-blowing is required.

[0231] It needs to be further explained that the close division of labor and cooperation between the high-pressure fan water blowing device to blow away the floating water on the engine surface and the robot automatic water blowing device to blow water on fixed points such as bolt holes can ultimately achieve the goal of eliminating manual water blowing and completely eliminate the impact of the high-noise and harsh environment of water blowing on manual occupational health.

[0232] In the above detailed description, various features are grouped together in a single embodiment to simplify the disclosure. This method of disclosure should not be interpreted as reflecting an intention that the embodiments of the claimed subject matter require more features than are clearly stated in each claim. On the contrary, as reflected in the appended claims, the invention is in a state of having less than all the features of the disclosed individual embodiments. Therefore, the appended claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.

[0233] The disclosed embodiments are described above to enable any person skilled in the art to implement or use the present invention. Various modifications of these embodiments are obvious to those skilled in the art, and the general principles defined herein may also be applied to other embodiments without departing from the spirit and scope of the present disclosure. Therefore, the present disclosure is not limited to the embodiments given herein, but is consistent with the broadest scope of the principles and novel features disclosed in this application.

[0234] The above description includes examples of one or more embodiments. Of course, it is not possible to describe all possible combinations of components or methods for the purpose of describing the above embodiments, but it should be recognized by those skilled in the art that the various embodiments may be further combined and arranged. Therefore, the embodiments described herein are intended to cover all such changes, modifications and variations that fall within the scope of protection of the appended claims. In addition, with respect to the term "comprising" used in the specification or claims, the word is covered in a manner similar to the term "including", just as "including," is explained as a transitional word in the claims. In addition, any term "or" used in the specification of the claims is intended to mean "non-exclusive or".

[0235] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A robot automatic water blowing device, characterized in that: It includes a robot water blowing chamber (R1), a robot (R2), a robot controller (R3), a control system (4.8), a hanging conveyor (5), a main air source (R4), and a compressed air control module (R5), wherein: The robot (R2) is arranged inside the robot water blowing chamber (R1); the robot (R2) comprises a robot body (R2.1) and a blowing gun (R2.2); The robot controller (R3) is arranged outside the robot water blowing chamber (R1); the robot controller (R3) is electrically signal coupled with the robot (R2) and controls the switch of the blowing gun (R2.2); the robot controller (R3) is electrically signal coupled with the compressed air control module (R5) arranged inside the robot water blowing chamber (R1) and sends a water blowing control signal and a robot blowing nozzle collision feedback signal to the compressed air control module (R5); The total air source (R4) is arranged outside the water blowing chamber (R1) of the robot; the total air source (R4) is connected to the compressed air control module (R5) through an air pipe; The compressed air control module (R5) comprises a solenoid valve (R5.1) for controlling the opening and closing of a compressed air circuit; the compressed air control module (R5) is connected to the blow gun (R2.2) via the air supply pipe; The hanging conveyor (5) is installed at the center line position of the top of the inner side of the robot water blowing chamber (R1); the control system (4.8) is installed on the top of the hanging conveyor (5).

2. The robot automatic water blowing device according to claim 1, characterized in that: The blowing gun (R2.2) comprises a robot water blowing bracket (R2.2.1), a reducer (R2.2.2), a blowing nozzle (R2.2.3), a straight-through connector (R2.2.4), a connector mounting plate (R2.2.5), and an extended blowing nozzle head (R2.2.6), wherein: One end of the robot water blowing bracket (R2.2.1) is fixedly connected to the robot body (R2.1), and the other end is provided with the joint mounting plate (R2.2.5); the rear end of the straight joint (R2.2.4) is fixedly mounted on the joint mounting plate (R2.2.5), and the front end is fixedly connected to the reducer (R2.2.2); the rear end of the blowing nozzle (R2.2.3) is fixedly connected to the reducer (R2.2.2), and the front end is socketed with the extended blowing nozzle head (R2.2.6).

3. The robot automatic water blowing device according to claim 2, characterized in that: The robot water blowing bracket (R2.2.1) is a 50 stainless steel square tube; the reducer (R2.2.2) is a 1 / 4mm to 1 / 8mm copper joint; the mouthpiece (R2.2.3) is a copper head with a rubber sleeve nozzle with an inner diameter of 1 / 8mm; the straight-through joint (R2.2.4) is an internal thread straight-through joint with an inner diameter of 1 / 4mm; the straight-through joint (R2.2.4) is made of 304 stainless steel; the joint mounting plate (R2.2.5) is made of 304 stainless steel; the outer diameter of the extended mouthpiece head (R2.2.6) is 16mm, the inner diameter is 5mm, and the length is 60mm; the material of the extended mouthpiece head (R2.2.6) is polyurethane.

4. The robot automatic water blowing device according to claim 3, characterized in that: The control system (4.8) comprises an RFID module, a workstation RFID reader / writer, a PLC control module and an AI visual recognition system, wherein: The RFID module is installed on the workpiece carrying trolley; The station RFID read / write head is installed at a position corresponding to the RFID module on the engine catenary trolley conveying track; The PLC control module is used to control the water blowing robot program; The AI ​​visual recognition system is used to identify the appearance of the engine.

5. A robot automatic water blowing method using the robot automatic water blowing device according to claim 4, characterized in that: The following steps are involved: S100. After the engine reaches the production line, an AI visual recognition process is executed; S200. The engine reaches the high-pressure blower water blowing station (6), and then executes the high-pressure blower water blowing process; S300. The engine arrives at the robot water blowing station (7), and then executes the robot water blowing process.

6. The robot automatic water blowing method according to claim 5, characterized in that: The AI ​​visual recognition process includes the following steps: Sa100. After the engine arrives at the on-line station, the database of the AI ​​visual recognition system is searched according to the customer order number corresponding to the engine, and then the engine model information is digitally defined for the appearance of the engine; Sa200. Write the identified engine model information into the RFID module and record it as the first engine model information; Sa300: the engine runs to the AI ​​visual recognition system station and reads the first engine model information recorded by the RFID module; Sa400. Visually identify the appearance of the engine, and then generate corresponding second engine model information according to the actual appearance of the engine; Sa500. Match the first engine model information with the second engine model information, and then perform the following operations according to the matching result: If the matching result of the first engine model information and the second engine model information is consistent, releasing the engine; If the matching results of the first engine model information and the second engine model information are inconsistent, an alarm will be prompted until the engine is released after manual maintenance makes the matching results of the first engine model information and the second engine model information consistent.

7. The robot automatic water blowing method according to claim 6, characterized in that: The high-pressure blower water blowing process comprises the following steps: Sb100. The engine is transported to the high-pressure blower water blowing station (6), and the suspension conveyor (5) carrying the engine stops moving; Sb200. The station RFID reader (4.8.1) reads the engine model information; Sb300. The engine model information is transmitted to the PLC control module; Sb400. The PLC control module starts the corresponding high-pressure fan control program according to the engine model to blow water on the engine; Sb500. The high-pressure fan control program reaches the manually preset high-pressure fan water blowing completion conditions; the PLC control module controls the high-pressure fan water blowing device to stop blowing; Sb600. The PLC control module sends a release signal; the hanging conveyor (5) transports the engine to the robot water blowing station (7).

8. The robot automatic water blowing method according to claim 7, characterized in that: The robot water blowing process comprises the following steps: Sc100. The engine is transported to the robot water blowing station (7), and the hanging conveyor (5) carrying the engine stops moving; Sc200. The station RFID reader reads the engine model information; Sc300. The engine model information is transmitted to the PLC control module; Sc400. The PLC control module sends the information to the robot controller (R3) according to the engine model; Sc500. The robot controller (R3) controls the movement of the robot (R2) according to the robot water blowing program to blow water on the engine; Sc600. The robot water blowing program runs and sends a completion signal to the PLC control module, and clears the current task in the robot water blowing program; the PLC control module clears the current task in the PLC control module after receiving the completion signal of the water blowing robot; Sc700. The PLC control module sends a release signal; the hanging conveyor (5) transports the engine to the next workstation and then returns to execute S100.

9. The robot automatic water blowing method according to claim 8, characterized in that: The digital definition of the engine model information described in Sa100 includes an 11-digit identity code definition rule, where: The first identity code is the model information; The second digit of the identity code is the ear classification information; The third digit of the ID code is the classification information of the supercharger and exhaust manifold; The fourth digit of the identity code is the machine filter information; The fifth digit of the identity code is the liquid buffer component information; The sixth digit of the ID code is the material and oil pan information; The 7th identity code is the flywheel housing information; The 8th ID code is the length and appearance information of the intake pipe; The 9th digit of the identity code is the air compressor information; The 10th digit of the identity code is the fuel filter information; The 11th digit of the identity code is the generator bracket information.

Images